Robot

ABSTRACT

A robot repeats successive works for each process point. A controller stores, in a storage, control data that arrays therein structural point blocks each bundling the successive works for each process point. The structural point block arrays therein point statements 8 indicating details of the successive works. A debugger executes step-over which sequentially executes the control data in a unit of structural point block, and which aborts the execution.

CROSS-REFERENCE TO RELATED APPLICATION(S)

This application is based upon and claims the benefit of priority fromJapan Patent Application No. 2015-013401, filed on Jan. 27, 2015, theentire contents of which are incorporated herein by reference.

FIELD OF THE INVENTION

The present invention relates to debugging on control data for a robot.

BACKGROUND

Industrial robots for various kinds of works to work-pieces, such asscrew tightening, welding, painting, carrying, attachment of a part, andsoldering, include, for example, a vertical multi-joint type movingunit. A work tool attached to the moving unit is moved to apredetermined point and is driven by a computer that executes a controlprogram.

The control program is described in a robot language, such as SLIM(Standard Language for Industrial Manipulators) or a super SEL languagewith instruction-based sentence structures including a controlstatement, a procedure, and a function. In addition, a point-based robotlanguage has been also provided (see, for example, Japan Patent No.4222828, JP H07-64619 A, and JP H05-257522 A) which controls a robot byreferring to control data having a point number as a separator and alsohaving information added to the portion following to the point number.Such information relates to a point where the work tool is to bepositioned.

According to the point-based robot language, the point numbers areassigned to a start point for a main work where the original function ofthe work tool is accomplished, an end point of the main work, a routingpoint to position the work tool at the start point, and routing pointsfrom the start point to the end point, respectively, and pieces ofinformation on those points are recorded in the control data.

Information on the point includes the kind of the point, the movingmethod to the point, the coordinates of the point, the details of workbefore the movement to the point, the details of work during themovement to the point, and the details of work at the point, etc., and acomputer refers to those pieces of information, and successivelyexecutes an instruction set stored beforehand. That is, according to thepoint-based robot language, each point serves as a sort of sub-routine,and is arranged in the control data.

Regardless what language the control program is described, the controlprogram is created together with code inputting through a keyboard or aGUI, and recording of a point and a posture through teaching. Theprocedure of programming includes a debug work which divides the controlprogram, checks the operation of the robot for each separator whileintermittently executing the program, and finds and corrects thecontrol-data bug for each separator.

According to this debug work, step execution that executes the processstep by step is known. By checking the instruction sentence by sentence,bugs can be carefully specified. Step-over execution that sequentiallyexecutes the contents in a sub-routine called a function block is alsoknown (see, for example, JP H07-64619 A). Function blocks are oftenperfected already since it is quite cumbersome and is not efficient fora user to perform step execution in the function block and to give aninstruction for restart every time the debug work is aborted.

The function block is one of structural elements of a program defined inIEC-61131-3, and is a sub-routine that can call a control realized by acombination of plural functions through only one instruction. As to thefunction block, the kinds of functions to be bundled are not defined,and in general, in view of the program development efficiency and theeasiness to view, the function blocks are applied to enable theapplication of codes that are frequently used, and to make the complexstructure be a function, thereby simplifying the program.

It is desirable that the debug work should be as efficient as possible.When paying an attention to a robot, the work tool often changes theprocess point and repeats the main work. Hence, as to the robotoperation check in the debug work, it is sometimes efficient if thedebug work is carried out in a unit of successive works from thepositioning of the work tool at the start point while avoiding aphysical contact through the routing points, the movement of the worktool from the start point to the end point while performing the mainwork, and the execution of a post-work process at the end point.

However, in the case of a control format that refers to the control datahaving point-based sentence structures recorded, according toconventional debug works, it is necessary to once stop the operation ateach of plural routing points, position at the start point and once stopthe operation, position at the end point and once stop the operation,and to wait for a restart instruction from the user between the stops.That is, successive works for a process point are divided intoindividual works.

In order to cause a robot to sequentially perform successive works, auser may set a break point in the control data. However, it takes a timeto set the break point during the programming in consideration of adebug work, and is not efficient. In addition, setting a break point inthe control data at the tentative completion of programming is notpractical.

The present invention has been made in order to address theabove-explained technical problems of conventional technologies, and itis an objective of the present invention to provide a robot that canimprove the efficiency of a debug work for a control program whichrefers to control data recording point-based sentence structures.

SUMMARY OF THE INVENTION

To accomplish the above objective, a robot according to an aspect of thepresent invention repeats successive works for each process point, andthe robot includes:

a work tool performing a main work on each process point in thesuccessive works;

a moving unit moving the work tool in the successive works;

a controller controlling the work tool and the moving unit;

a storage storing control data arraying therein structural point blocks,each structural point blocks bundling the successive works for eachprocess point; and

a debugger sequentially executing the control data in a unit ofstructural point block, and aborting the execution.

The successive may works include the main work by the work tool, apre-process work and a post-process work before and after the main work,and positioning to a plurality of points for the main work; and

the structural point block may record data representing a work in thesuccessive works and details of movement.

The structural point block may array therein point statements, the pointstatements each being data indicating all points for positioning duringa set of the successive works and details of a work before, after, orduring movement to the point; and

the debugger may sequentially execute all point statements contained inthe structural point block, and abort the sequential execution of thecontrol data.

The structural point block may array therein:

-   -   a point statement that is data indicating all points for        positioning during a set of the successive works; and    -   a work statement that is data indicating all works to be        executed before, after, or during movement in the set of the        successive works, and

the debugger may sequentially execute all point statement and workstatement contained in the structural point block, and abort thesequential execution of the control data.

The structural point block may record break point information; and

the debugger may sequentially execute all structural point blocks up tothe structural point block with the break point information, and abortthe execution.

The storage may store a table that records break point informationindicating the specific structural point block; and

the debugger may sequentially execute all structural point blocks up tothe structural point block indicated by the break point information, andabort the execution.

The robot may further include a console device that accepts a user'soperation,

in which the debugger may include:

a step-over executer sequentially executing the control data in a unitof the structural point block and aborting in accordance with aselection of step-over execution through the console device; and

a step-in executer aligning an execution position with a header ofcontents of the structural point block and aborting in accordance with aselection of step-in execution through the console device, andintermittently executing statement by statement in response to a restartinstruction given through the console device, and aborting theexecution.

The debugger may further include a step-out executer sequentiallyexecuting all remaining statements in the structural point block inaccordance with a selection of step-out execution through the consoledevice after the selection of the step-in execution, stepping out fromthe structural point block, and aborting the execution.

The control data may record the nested structural point block; and

the debugger may include:

-   -   a nesting step-over executer sequentially executing all contents        of the nested structural point block; and    -   a nesting step-in executer intermittently executing the contents        of the nested structural point block statement by statement.

The debugger may further include a nesting step-out executersequentially executing all remaining statements in the nested structuralpoint block, stepping out from the nested structural point block, andaborting the execution.

The robot may further include a display displaying a tree view of astructure of the control data.

The controller may execute an initial process before referring to anarray of the structural point blocks, and executes a last process afterreferring to the array of structural point blocks;

all of the structural point blocks may record:

-   -   an initial statement which is a single or plural sentences that        are an instruction set or a call instruction thereof indicating        details of the initial process; and    -   a last statement which is a single or plural sentences that are        an instruction set or a call instruction thereof indicating        details of the last process;

the controller may ignore the initial statement and the last statement;and

the debugger may execute the initial statement and the last statement.

According to the present invention, the robot sequentially operates in aunit of successive works for each process point, and once stops. Hence,the efficiency of a debug work can be improved.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG. 1 is an exemplary diagram illustrating an entire structure of arobot;

FIG. 2 is a block diagram illustrating a structure of a controller;

FIG. 3 is an exemplary diagram illustrating successive works to aprocess point;

FIG. 4 is an exemplary diagram illustrating control data according to afirst embodiment;

FIG. 5 is a block diagram illustrating a structure of the controller ina programming mode;

FIG. 6 is a flowchart illustrating a debugger control operationaccording to the first embodiment;

FIG. 7 is an exemplary diagram illustrating control data according to afirst modified example;

FIG. 8 is an exemplary diagram illustrating control data according to asecond modified example;

FIG. 9 is a flowchart illustrating a debugger control operation based onthe control data of the second modified example;

FIG. 10 is an exemplary diagram illustrating control data according to athird modified example;

FIG. 11 is an exemplary diagram illustrating control data according to asecond embodiment;

FIG. 12 is a block diagram illustrating a structure of a debugger of thesecond embodiment;

FIG. 13 is a flowchart illustrating a debugger control operation of thesecond embodiment;

FIG. 14 is an exemplary diagram illustrating a operation screendisplayed on a display by a debugger according to a third embodiment;

FIG. 15 is a flowchart illustrating a debugger control operation when astep-in execute button is depressed according to the third embodiment;

FIG. 16 is a flowchart illustrating a debugger control operation when astep-over execute button is depressed according to the third embodiment;

FIG. 17 is a flowchart illustrating a debugger control operation when astep-out execute button is depressed according to the third embodiment;

FIG. 18 is a diagram illustrating control data according to a fourthmodified example;

FIG. 19 is an exemplary diagram illustrating a operation screendisplayed on a display by a debugger according to a fourth embodiment;

FIG. 20 is an exemplary diagram illustrating a structural point block incontrol data according to a fifth embodiment; and

FIG. 21 is a flowchart illustrating a debugger control operation of thefifth embodiment.

DETAILED DESCRIPTION OF THE EMBODIMENTS First Embodiment

(Robot Structure)

A robot 1 according to a first embodiment of the present invention willbe explained below in detail with reference to figures. FIG. 1 is adiagram illustrating an entire structure of the robot 1 of thisembodiment. As illustrated in FIG. 1, the robot 1 includes a moving unit2 and a controller 3. A work tool 4 is attached to the moving unit 2.This robot 1 controls the moving unit 2 and the work tool 4, positionsthe work tool 4 at a desired position, and causes the work tool 4 toperform a work. The work tool 4 is, for example, an electricscrew-tightening driver, a welder, a painting gun, or a handler.

The moving unit 2 moves the work tool 4 in an X-axis direction, a Y-axisdirection, and a Z-axis direction, and positions the work tool 4 at adesignated point. The X-axis direction is an axial direction in parallelwith the horizontal plane. The Y-axis direction is another axialdirection which is in parallel with the horizontal plane but isorthogonal to the X-axis direction. The Z-axis direction is a heightdirection. This moving unit 2 includes an X linear slider 21 that movesthe work tool 4 in the X-axis direction, a Y linear slider 22 that movesthe work tool 4 in the Y-axis direction, and a Z linear slider 23 thatmoves the work tool 4 in the Z-axis direction.

The X linear slider 21 has the Y linear slider 22 provided slidably on arail that extends in the X-axis direction, and has the Y linear slider22 fastened with an endless belt that runs in the X-axis direction whichis orthogonal to the Y linear slider 22. The endless belt is run by anX-axis motor to move the Y linear slider 22 along the X-axis direction.

The Y linear slider 22 has the Z linear slider 23 provided slidably on arail that extends in the Y-axis direction, and has the Z linear slider23 fastened with an endless belt that runs in the Y-axis direction. Theendless belt is run by a Y-axis motor to move the Z linear slider 23along the Y-axis direction. Example transmission mechanisms for the Xand Y linear sliders 21, 22 are, in addition to endless belts, variousactuators including a cylinder and a lead screw.

The Z linear slider 23 includes an arm with an axis that in parallelwith the Z-axis direction, and the work tool 4 is attached to theleading end of this arm. This Z linear slider 23 includes, for example,a rack-and-pinion mechanism, has the rack elongated in the Z-axisdirection, and has the arm fixed to this rack. The pinion is turned by aZ-axis motor to move the arm in the Z-axis direction. This Z linearslider 23 moves the work tool 4 in the Z-axis direction.

As illustrated in FIG. 2, the controller 3 is a so-called computer thatincludes a CPU 31 which executes an arithmetic processing and outputsinstruction signals to peripheral devices in accordance with controldata 6 that is a structural element of a so-called control program, astorage 32 like an HDD that stores the program, a memory 33 in which theprogram is expanded and which temporarily stores the arithmeticprocessing result by the CPU 31, and, the peripheral devices. Theperipheral devices include a motor driver 34 that supplies power pulsesto the respective motors in accordance with an instruction signal outputby the CPU 31, and a console device 35 that includes a display 352 likea liquid crystal display, and a mouse, a keyboard, and a teachingpendant 351, etc.

This controller 3 controls the moving unit 2 and the work tool 4 uponthe program process with reference to control data 6 in the storage 32.As illustrated in FIG. 3, the robot 1 moves the work tool 4 to the startpoint through, for example, three routing points under the control ofthe controller 3. Before this movement, a pre-process work is performed,and an in-movement work is also performed during the movement. Whenreaching the start point, the robot performs a start-point work at thestart point. When the start-point work completes, the robot 1 moves thework tool 4 to the end point while starting a main work. When reachingthe endpoint, the robot 1 performs an end-point work at the end point.

As is demonstrated by this example case, the robot 1 performs successiveworks to a process point under the control of the controller 3, andrepeats the new successive works while changing the process point. Theprocess point is a location where the main work is performed. Thesuccessive works include the main work to the process point, andassociate works to complete the main work. The associated works includethe movement to the start point for the main work, and pre-process workand post-process work before and after the main work.

The main work is, for example, screw tightening or welding that requiresthe work tool 4 to accomplish the original function. The pre-processwork includes a work before the movement to the start point, a workduring the movement, and a work before the main work at the start point.The movement includes a movement to the start point through routingpoints so as to avoid physical obstacles, and a movement from the startpoint to the end point of the main work. The post-process work is a workat the endpoint after the main work.

(Control Data Structure)

FIG. 4 is an exemplary diagram illustrating an entire structure of thecontrol data 6. The control data 6 records successive works for eachprocess point. This control data 6 has plural structural point blocks 7arrayed therein. The structural point block 7 records a bundle of thesuccessive works to a process point.

The successive works are recorded with point-based sentence structures.That is, the structural point block 7 includes whole point statements 8that represent the successive works to a process point. Each pointstatement 8 is information prepared for each point that needs apositioning in order to accomplish the main work at the process point.This point statement 8 includes, following to a point number 81, a pointkind option 82, a point coordinate 83, and a point speed 84 disposed insequence. In addition, the point statement 8 also includes, following tothe point number 81, a work kind option 85, and a work number 86disposed in sequence.

The point number 81 clarifies a declaration that the point statement isin a point-based sentence structure and a separator, and divides eachpoint statement 8. The point kind option 82 indicates a combination ofthe kind of point and the moving method. The point kind is, for example,the routing point, the start point of the main work, or the end point ofthe main work. The moving method is, for example, a PTP movement, alinear interpolation movement, or a circular-arc interpolation with adesignated supplemental point. With respect to the record of the pointkind option 82 indicating the routing point, recording of plural pointcoordinates 83 indicating the routing point is permitted.

The work number 86 is an identifier that indicates an instruction setwhich describes the work details of the work tool 4. The instruction setis described in a robot language, such as SLIM (Standard Language forIndustrial Manipulators) or super SEL language, and is stored beforehandin the storage 32. The work kind option 85 indicates a time period atwhich the work indicated by the work number 86 is to be executed. Thiswork kind option 85 indicates a work before movement, a work during themovement, a work at the start point, a work at the end point, or themain work.

For example, the point statement 8 is expressed as “#1, CP start point,X=AA, Y=BB, Z=CC, speed 40, work during movement, and work number 1”.The controller 3 identifies the separator of the point statement 8 basedon the portion that is #1, controls the moving unit 2 with reference tothe portions following to #1, and moves the work tool 4 to thecoordinates that are obtained by the point coordinates 83 which are“X=AA, Y=BB, and Z=CC” at a speed obtained from the point speed 84 thatis “speed 40” through the moving method which is obtained from the pointkind option 82 that is “CP start point” and which draws a smoothcircular arc.

In addition, the controller 3 executes the instruction set identified bythe work number 86 that is “work number 1” during the movement which isobtained from the work kind option 85 that is “work during movement”,and causes the robot 1 to execute the work of the work number 1.

As explained above, in the control data 6, the point statement 8 isrecorded for each point that is positioned to accomplish the main workfor the process point, and does not directly indicate the process point.Conversely, the whole point statements 8 that represent the successiveworks are bundled by the structural point block 7, and the process pointis clarified by the structural point block 7.

The controller 3 has two modes: an operation mode that controls themoving unit 2 and the work tool 4 in accordance with the control data 6;and a programming mode that edits the control data 6. The programmingmode includes an actual-device debug mode for checking the operation ofthe robot 1 in accordance with the control data 6.

In the operation mode, the controller 3 sequentially executes the wholepoint statements 8 in the control data 6, and controls the moving unit 2and the work tool 4. That is, the controller 3 sequentially refers tothe structural point blocks 7 from the header. In the referringoperation to the structural point block 7, the controller 3 refers tothe respective point statements 8 in the structural point block 7 fromthe header in sequence. Next, the controller 3 executes a controlindicated by the point statement 8, and upon completion of the executionof the control indicated by the whole point statements 8, the controller3 returns to the main routine. Once returning to the main routine, thecontroller 3 keeps referring to the following structural point blocks 7.

(Debugger Structure)

As illustrated in FIG. 5, in the programming mode, the controller 3includes a control-data creator 51 and a debugger 52. The control-datacreator 51 adds, deletes or collects each piece of data in the controldata 6, and edits the control data 6 in accordance with an input to theconsole device 35 like the teaching pendant 351, the mouse and thekeyboard.

The debugger 52 is a program intermittent executer which divides thecontrol data 6, intermittently executes the divided pieces of controldata 6, and intermittently operates the moving unit 2 and the work tool4. The debugger 52 takes the respective structural point blocks 7 as theseparator indications, and performs step-over execution for eachstructural point block 7.

FIG. 6 is a flowchart illustrating a control operation for the debugger52. As illustrated in FIG. 6, the debugger 52 refers to (step S01) thenext structural point block 7 from the control data 6. When referring tothe structural point block 7, the debugger 52 executes (step S02) thepoint statements 8 from the header in sequence within the referringstructural point block 7. When there is a point statement 8 not executedyet (step S03: NO), the debugger 52 returns to the step S02, andexecutes (step S02) the next point statement 8.

When execution of the whole point statements 8 in the referringstructural point block 7 completes (step S03: YES), the debugger 52returns to (step S04) the main routine in the control data 6. Next, whenthere is still the next structural point block 7 (step S05: NO), thedebugger 52 aborts (step S06) the execution of the control data 6.

When the user instructs (step S07: YES) the restart through the consoledevice 35, the debugger 52 returns to the step S01, and refers to (stepS01) the next structural point block 7 not executed yet. When thereference to all structural point blocks 7 completes (step S05: YES),the debugger 52 terminates the execution of the operation check withreference to the control data 6.

(Action and Effect)

The debugger 52 that intermittently executes the control data with thestructural point blocks 7 being as separator indications as explainedabove causes the robot 1 to operate for successive works, once stop forthe completion of successive works, wait for the restart instructionfrom the user given through the console device 35, and start the nextsuccessive works. That is, the control data 6 for the robot 1 has thewhole point statements 8 which construct the successive works to aprocess point and which are bundled by a structural point block 7.

Hence, the debugger 52 that performs step-over execution on the blocksof the statement causes the robot 1 to operate in a unit of successiveworks to a process point, and thus the efficiency of the debug work forthe user can be improved.

In addition, the control data 6 includes the structural point blocks 7disposed in sequence for respective process points. In the case of thepoint-based sentence structure, a routing point, the start point, andthe end point which do not directly indicate a process point are linedup. Hence, it is difficult for the user to understand which processpoint is associated with those points.

However, by constructing the control data 6 with an array of thestructural point blocks 7 for the respective process points, the controldata 6 can be read process point by process point. Therefore, theefficiency of the debug work for the user can be improved.

First Modified Example for Control Data

FIG. 7 is an exemplary diagram illustrating a structural point block 7arrayed in the control data 6. According to this control data 6, thework kind option 85 and the work number 86 are eliminated from the pointstatement 8, but form a work statement 9 that is a single sentence. Thiswork statement 9 includes a work kind option 91 and a work number 92.The work statements 9 and the point statements 8 are arrayed in theexecution order. The instruction set that constructs a work duringmovement is explicitly or implicitly repeated by the system during themovement.

As explained above, even if the contents of the structural point block 7are not constructed by the point statements 8 only, and the workstatements 9 are also present, as long as the successive works for aprocess point are bundled by the structural point block 7, the robot 1can operate in a unit of the successive works to a process point in thedebug work.

Second Modified Example of Control Data

FIG. 8 is an exemplary diagram illustrating control data 6 according toa second modified example. As illustrated in FIG. 8, break pointinformation 71 can be added to the structural point block 7. The breakpoint information 71 is written through the creation of the control data6 and the edition thereof with the console device 35 in the programmingmode, and becomes valid in the debug mode.

The operation in the debug mode in accordance with the control data 6 isas follow. That is, as illustrated in FIG. 9, the debugger 52 refers to(step S11) the header structural point block 7 not executed yet in thecontrol data 6. When the referring structural point block 7 contains thebreak point information 71 (step S12: YES), the execution of the controldata 6 is aborted (step S13).

Conversely, when there is no break point information 71 (step S12: NO),the debugger 52 executes (step S14) the header point statement 8 or workstatement 9 not executed yet in the referring structural point block 7.When there is still a point statement 8 or a work statement 9 notexecuted yet (step S15: NO), the debugger 52 returns to the step S14,and executes the next header point statement 8 or work statement 9 notexecuted yet.

When the execution of all point statements 8 or work statements 9contained in the referring structural point block 7 completes (step S15:YES), the debugger 52 returns to (step S16) the main routine. When thereis still a structural point block 7 not executed yet (step S17: NO), thedebugger 52 returns to the step S11, refers to (step S11) thisstructural point block 7, and aborts (step S13) the execution when thereis the break point information 71 (step S12: YES).

During the aborting operation in the step S13, when the user instructsthe restart through the console device 35 (step S18: YES), the debugger52 returns to the step S14, and executes the referring structural pointblock 7. When execution of all structural point blocks 7 completes (stepS17: YES), the debugger 52 terminates the execution of the control data6.

The aborting method in accordance with the break point information 71and the aborting method in accordance with the structural point block 7are selectable through the console device 35 in the debug mode of theactual device.

As explained above, in the debug work, when the execution in the unit ofthe structural point block 7 and the successive operations up to the setbreak point are selectable, an appropriate execution method can beadopted in accordance with the advancing stage of the debug work. Hence,the debug work can be made further efficient.

Third Modified Example of Control Data

As illustrated in FIG. 10, the control data 6 contains a break pointtable 72. This break point table 72 stores the break point information71 that indicates the structural point block 7 to be aborted before theexecution. This break point information 71 is expressed as, for example,the name of the structural point block 7.

The debugger 52 refers to the break point table 72 before referring tothe structural point block 7, and determines whether or not thereferring structural point block 7 matches the break point information71 stored in the break point table 72. When the referring structuralpoint block 7 matches, the debugger 52 aborts before executing thereferring structural point block 7, waits for the restart instructiongiven through the console device 35, and restarts the execution of thestructural point block 7.

As explained above, when the break point information 71 is recorded in aseparate table from the control data 6, placement, replacement, anddeletion of the break point information 71 become easy, and thus theefficiency of the debug work can be further improved. That is, itbecomes unnecessary for the user to read the contents of the controldata 6 to, for example, place the break point information 71.

Second Embodiment

Next, an explanation will be given of a robot according to a secondembodiment with reference to the figures. The same structure andfunction as those of the first embodiment will be denoted by the samereference numeral, and the duplicated explanation will be omitted.

(Control Data Structure)

FIG. 11 is an exemplary diagram illustrating control data 6 according tothe second embodiment. This control data 6 arrays therein the pointstatements 8 constructing successive works for each process point. Thiscontrol data 6 does not divides the array of point statements 8 forsuccessive works unlike the case in which the point statements 8 arebundled by the structural point block 7.

For example, point statements 8 for first successive works that have astart point with coordinates (X, Y, Z)=(100, 120, 50), and pointstatements 8 for second successive works that have a start point withcoordinates (X, Y, Z)=(100, 240, 50) are arranged in sequence withrespective point numbers 81.

The first successive works correspond to the point numbers 1 to 6, andaccording to this control data 6, the work tool 4 passes through twoavoidance points, moves linearly to the start point, passes through tworouting points from the start point, moves to the end point so as todraw a circular arc, and executes the main work indicated by the “worknumber 4” up to the movement to the end point.

The second successive works correspond to the point numbers 7 to 13, andaccording to this control data 6, the work tool 4 passes through twoavoidance points, moves linearly to the start point from the end pointof the first successive works, passes through three routing points fromthe start point, moves to the end point so as to draw an arcuatetrajectory, and executes the main work indicated by the “work number 4”up to the movement to the end point.

(Debugger)

As illustrated in FIG. 12, the debugger 52 includes aseparator-point-information memory 52 a mainly constructed by thestorage 32, and the separator-point-information memory 52 a storesbeforehand header separator point information and last separator pointinformation. The header separator point information and the lastseparator point information indicate the kind of the header pointstatement 8 in the successive works and that of the last point statement8 therein, respectively. For example, the header point statement 8relates to a series of routing points, while the last point statement 8relates to the end point.

As illustrated in FIG. 13, when completing the execution of the nextpoint statement 8 (step S21), the debugger 52 refers to the lastseparator point information stored in the separator-point-informationmemory 52 a, and also determines (step S22) whether or not the nextpoint statement 8 is the last point statement 8.

When determining that this is the point statement 8 indicated by thelast separator point information (step S22: YES), the debugger 52executes (step S23) this point statement 8, and then aborts (step S24)the execution. Conversely, when determining that this is not the pointstatement 8 indicated by the last separator point information (step S22:No), the debugger 52 returns to the step S21, and continues thesequential execution of the point statements 8.

After the aborting (step S24), the debugger 52 waits for (step S25) therestart instruction given through the console device 35, refers to theheader separator point information stored in theseparator-point-information memory 52 a, and also determines (step S26)whether or not the next point statement 8 is the first point statement8.

When determining that this is the point statement 8 indicated by theheader separator point information (step S26: YES), the debugger 52returns to the step S21, and continues the sequential execution of thepoint statements 8. Conversely, when determining that this is not thepoint statement 8 indicated by the header separator point information(step S26: NO), the debugger 52 transitions the operation (step S27) tothe intermittent execution of the point statements 8 sentence bysentence.

As explained above, the structural point block 7 can be implicitlyconstructed without bundling the point statements 8 to facilitate theuser to read, and can be sequentially executed in a unit of successiveworks in the debug work. Therefore, the programming latitude can beimproved.

Third Embodiment

Next, an explanation will be given of a robot according to a thirdembodiment with reference to the figures. The same structure andfunction as those of the first embodiment will be denoted by the samereference numeral, and the duplicated explanation will be omitted.

(Debugger)

The debugger 52 performs step-in execution, step-over execution, orstep-out execution on the control data 6 in response to an operationgiven through the console device 35. FIG. 14 is an exemplary diagramillustrating an operation screen to check the operation of the robotaccording to the third embodiment. Displayed in this operation screenare a step-in execute button 533, a step-over execute button 534, and astep-out execute button 535.

As illustrated in FIG. 15, when the step-in execute button 533 isdepressed (step S31: YES) and the execution position is in the mainroutine (step S32: YES), the debugger 52 performs step-in (step S33) tothe structural point block 7. That is, the debugger 52 aborts theexecution of the control data 6 at the header of the structural pointblock 7.

Conversely, when the step-in execute button 533 is depressed and theexecution position is within the structural point block 7 (step S32:NO), the debugger 52 performs step-in (step S34) from the structuralpoint block 7 to the point statement 8. That is, the debugger 52executes the point statement 8 at the execution position, and aborts atthe completion of the execution of this point statement 8. When thepoint statement 8 is constructed by the instruction set, the debugger 52executes the point statement 8 step by step, and aborts the execution.

In addition, as illustrated in FIG. 16, when the step-over executebutton 534 is depressed (step S41: YES), the debugger 7 sequentiallyexecutes (step S42) the structural point block 7 up to the end, andaborts (step S43) the execution at the next structural point block 7.That is, the same control operation as that of the debugger 52 of thefirst embodiment is performed.

Still further, as illustrated in FIG. 17, when the step-out executebutton 535 is depressed (step S51: YES), the debugger 52 sequentiallyexecutes (step S52) the remaining contents in the structural point block7, returns to the main routine upon the completion of the sequentiallyexecuted structural point block 7, and then aborts (step S53) theexecution.

As explained above, upon depression of the step-in execute button 533,the debugger 52 intermittently executes the control data 6 step by step.In addition, upon depression of the step-over execute button 534, thedebugger 52 sequentially execute the control data 6 for each structuralpoint block 7. Still further, upon depression of the step-out executebutton 535, the debugger 52 transitions the operation from the step-inexecution to the step-over execution on the structural point block 7.

This enables the user to execute an appropriate debug operation inaccordance with the advancing stage of the debug work, and thus theefficiency of the debug work can be further improved.

Fourth Modified Example of Control Data

FIG. 18 is an exemplary diagram illustrating control data 6 according toa fourth modified example. This control data 6 explicitly arrays thestructural point blocks 7 in the main routine, and a further nestedstructural point block 7 is disposed in the structural point block 7.This nested structural point block 7 is recorded in the upper-layerstructural point block 7 with a call instruction of the structural pointblock 7 like “Call Points”.

In the case of the control data 6 employing this structure, upondepression of the step-in execute button 533, the debugger 52 executesthe point statements 8 one by one in the nested structural point block7, and aborts for each execution. Upon depression of the step-overexecution 534, the debugger 52 sequentially executes all pointstatements 8 in the nested structural point block 7, returns in theupper-layer structural point block 7, and then aborts the execution. Inaddition, when the step-out execute button 535 is depressed during thestep-in execution, the debugger 52 executes all remaining contents inthe nested structural point block 7, returns in the upper-layerstructural point block 7, and then aborts the execution.

Fourth Embodiment

Next, an explanation will be given of a robot according to a fourthembodiment with reference to the figures. The same structure andfunction as those of the first embodiment or the modified examplethereof will be denoted by the same reference numeral, and theduplicated explanation will be omitted.

(Debugger)

FIG. 19 illustrates an operation screen 53 displayed on the display 352in the programming mode. As illustrated in FIG. 19, the controller 3displays the operation screen 53 on the display 352. The operationscreen 53 can be divided into a structure creating column 531 and a codedescribing column 532. The structure creating column 531 displays thetree views of the structure of the control data 6.

In the structure creating column 531, the main routine is expanded inthe upper hierarchy. The structural point blocks 7 are disposed in themain routine in sequence. The array of the structural point blocks 7enables the user to recognize the separator of the program for eachpoint. When the structural point block 7 is expanded, the pointstatements 8 are disposed in sequence. The array of the point statements8 enables the user to recognize the work details for each process pointwith reference to a point to which the work tool 4 is to be moved.

In accordance with an operation through the console device 35 in thestructure creating column 531, the control-data creator 51 adds thestructural point block 7 to the control data 6. In addition, inaccordance with an operation through the console device 35 in thestructure creating column 531, the control-data creator 51 adds thepoint statement 8 to the structural point block 7. Still further, inaccordance with a key input through the console device 35 or teaching inthe code describing column 532, the point statement 8 is edited, and acode of an instruction set indicated by the work number 86 is described.

The debugger 52 displays the execution position of the control data 6 inthe structure creating column 531. The structural point block 7 beingexecuted is expanded, and the icon for the point statement 8 beingexecuted is emphasized. When the work statement 9 is being executed, theinstruction set with the work number 92 in the work statement 9 isexpanded, and the instruction being executed is emphasized. In addition,in accordance with an operation through the console device 35 in thestructure creating column 531, the debugger 52 adds the break pointinformation 71 to the designated structural point block 7.

Hence, the user can visually grasp the array of the structural pointblocks 7 in the control data 6. That is, the user can read the controlprogram in a unit of successive works for each process point. Therefore,the efficiency of the debug work can be further improved.

Fifth Embodiment

Next, an explanation will be given of a robot according to a fifthembodiment with reference to the figures. The same structure andfunction as those of the first modified example of the first embodimentwill be denoted by the same reference numeral, and the duplicatedexplanation will be omitted.

(Control Data)

FIG. 20 is an exemplary diagram illustrating the structural point blocks7 arrayed in the control data 6. Each structural point block 7 arraystherein a point statement 8 and a work statement 9. This structuralpoint block 7 arrays therein a work statement 9 a for execution at thetime of debug restarting, and a work statement 9 b for execution at thetime of debug aborting.

The process details of the work statement 9 a for the execution at thetime of debug restarting are work details to be executed beforehand atthe initial stage of the control data 6 when a sequential execution isperformed through each structural point block 7 in the operation mode.The work details are, for example, laser emission to perform lasercutting with plural process points being linked one another. The processdetails of the work statement 9 b for the execution at the time of debugaborting are the work details to be executed at the last stage of thecontrol data 6 when a sequential execution is performed through eachstructural point block 7 in the operation mode. For example, the workdetails are termination of laser emission to perform laser cutting withthe plural process points being linked one another.

(Debugger)

The work statements 9 a, 9 b for execution at the time of debugrestarting and debug aborting are ignored in the operation mode, butwhen a specific condition is satisfied in the debug mode on the actualdevice, the debugger 52 executes those work statements. The specificcondition is the initial stage of the step-over execution for the workstatement 9 a for the execution at the time of debug restarting, and isthe last stage of the step-over execution or the step-out execution forthe work statement 9 b for the execution at the time of debug aborting.

FIG. 21 is a flowchart illustrating a control operation for the debugger52. As illustrated in FIG. 21, when the execution of the currentstructural point block 7 completes (step S61), the debugger 52 aborts(step S62) the execution. Next, when the user gives a restartinstruction through the console device 35 (step S63: YES), the debugger52 refers to (step S64) the work statement 9 a for the execution at thetime of debug restarting in the next structural point block 7, andexecutes (step S65) the work at the time of debug restarting. When thework at the time of debug restarting relates to the operation of therobot 1, the debugger 52 controls the moving unit 2 and the work tool 4.

When the execution of the work statement 9 a for the execution at thetime of debug restarting completes (step S65), the debugger 52sequentially executes (step S66) the remaining point statement 8 andwork statement 9 in the referring structural point block 7.

When the sequential execution of the remaining point statement 8, etc.,completes (step S66), the debugger 52 refers to (step S67) the workstatement 9 b for the execution at the time of debug aborting in thestructural point block 7, and executes (step S68) the work at the timeof debug aborting. When the work at the time of debug aborting relatesto the operation of the robot 1, the debugger 52 controls the movingunit 2 and the work tool 4.

When the sequential execution of all statements in the referringstructural point block 7 including the work statements 9 a, 9 b forexecution at the time of debug restarting and debug aborting completes(step S61), the process progresses to the step S62, and the debugger 52aborts (step S62) the execution.

When the execution of the program is aborted in the debug work, the usermay want to also stop the process that causes the system to keepoperating during the execution of the control data 6. For example, theuser may want to stop laser emission in order to review the condition ofthe actual device in the case of laser processing.

According to this robot 1, the work statement 9 b for the execution atthe time of debug aborting can automatically stop the work that the userwants to stop together with the suspension of the robot 1.

Conversely, when the work that the user wants to stop is stoppedtogether with the suspension of the robot 1, a defect may occur when thenext structural point block 7 is executed since the stopped work is notrestarted. For example, in the case of laser processing, the user cannotcheck the operation in the next process point without laser emission.

Hence, the robot 1 can execute the work once stopped at the time of thestart of the execution of the next structural point block 7 based on thework statement 9 a for the execution at the time of debug restarting.

Hence, an error and cumbersome efforts at the time of debug work can beeliminated, and the efficiency of the debug work can be improved.

Other Embodiments

Embodiments of the present invention were explained above, but variousomissions, replacements, and modifications can be made thereto withoutdeparting from the scope of the present invention. Such embodiments andmodified examples thereof are within the scope and spirit of the presentinvention, and are also within the scope of the claimed invention andthe equivalent range thereto.

For example, the explanation was given of an example case in which theprogramming for the robot 1 was directly performed on the robot 1, butthe present invention is not limited to this example case, andprogramming may be performed through a programming tool like a computerseparate from the robot 1, and the control data 6 may be loaded in therobot 1.

What is claimed is:
 1. A robot repeating successive works for eachprocess point, the robot comprising: a work tool performing a main workon each process point in the successive works; a moving unit moving thework tool in the successive works; a controller controlling the worktool and the moving unit; a storage storing control data having entirepoint statements that form successive works for a process point, thecontrol data having a plurality of structural point blocks, eachstructural point block bundling the successive works for each processpoint; and a debugger, the debugger subdividing the control data intothe structural point blocks, executing the entire point statements ofeach structural point block without aborting therein, and aborting theexecution of the controlling data each time when the execution of theentire point statements of each structural point block completes,thereby intermittently executing the plurality of structural pointblocks so as to intermittently operate the moving unit and the work toolprocess-point by process-point, wherein, in responding to the debugger,the controller automatically stops the successive work together withsuspension of operation of the robot.
 2. The robot according to claim 1,wherein: the successive works includes the main work by the work tool, apre-process work and a post-process work before and after the main work,and positioning to a plurality of points for the main work; and thestructural point block records data representing a work in thesuccessive works and details of movement.
 3. The robot according toclaim 2, wherein: the structural point block arrays therein pointstatements, the point statements each being data indicating all pointsfor positioning during a set of the successive works and details of awork before, after, or during movement to the point; and the debuggersequentially executes all point statements contained in the structuralpoint block, and aborts the sequential execution of the control data. 4.The robot according to claim 2, wherein: the structural point blockarrays therein: a point statement that is data indicating all points forpositioning during a set of the successive works; and a work statementthat is data indicating all works to be executed before, after, orduring movement in the set of the successive works, and the debuggersequentially executes all point statement and work statement containedin the structural point block, and aborts the sequential execution ofthe control data.
 5. The robot according to claim 1, further comprisinga console device that accepts a user's operation, wherein the debuggercomprises: a step-over executer sequentially executing the control datain a unit of the structural point block and aborting in accordance witha selection of step-over execution through the console device; and astep-in executer aligning an execution position with a header ofcontents of the structural point block and aborting in accordance with aselection of step-in execution through the console device, andintermittently executing statement by statement in response to a restartinstruction given through the console device, and aborting theexecution.
 6. The robot according to claim 5, wherein the debuggerfurther comprises a step-out executer sequentially executing allremaining statements in the structural point block in accordance with aselection of step-out execution through the console device after theselection of the step-in execution, stepping out from the structuralpoint block, and aborting the execution.
 7. The robot according to claim1, wherein: the control data records the nested structural point block;and the debugger comprises: a nesting step-over executer sequentiallyexecuting all contents of the nested structural point block; and anesting step-in executer intermittently executing the contents of thenested structural point block statement by statement.
 8. The robotaccording to claim 7, wherein the debugger further comprises a nestingstep-out executer sequentially executing all remaining statements in thenested structural point block, stepping out from the nested structuralpoint block, and aborting the execution.
 9. The robot according to claim1, further comprising a display displaying a tree view of a structure ofthe control data.
 10. The robot according to claim 1, wherein: thedebugger executes an initial process before referring to the pointstatements in the structural point blocks, and executes a last processafter referring to the point statements in the structural point blocks;all of the structural point blocks record: an initial statement which isa single or plural sentences that are an instruction set or a callinstruction thereof indicating details of the initial process; and alast statement which is a single or plural sentences that are aninstruction set or a call instruction thereof indicating details of thelast process; the controller ignores the initial statement and the laststatement in the structural point blocks; and the debugger executes theinitial statement and the last statement in the structural point blocks,wherein, in responding to the debugger, the controller automaticallystops the successive work together with suspension of operation of therobot.